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<div class="title">PxRigidBodyExt.h</div>  </div>
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<a href="PxRigidBodyExt_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// are met:</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//  * Redistributions of source code must retain the above copyright</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">//    notice, this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">//  * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//    notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">//    documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//  * Neither the name of NVIDIA CORPORATION nor the names of its</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">//    contributors may be used to endorse or promote products derived</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//    from this software without specific prior written permission.</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS &#39;&#39;AS IS&#39;&#39; AND ANY</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  </span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#ifndef PX_PHYSICS_EXTENSIONS_RIGIDBODY_H</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#define PX_PHYSICS_EXTENSIONS_RIGIDBODY_H</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a>&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxRigidBody_8h.html">PxRigidBody.h</a>&quot;</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxQueryReport_8h.html">PxQueryReport.h</a>&quot;</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxQueryFiltering_8h.html">PxQueryFiltering.h</a>&quot;</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxMassProperties_8h.html">extensions/PxMassProperties.h</a>&quot;</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacephysx.html">physx</a></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">class </span><a class="code" href="classPxScene.html">PxScene</a>;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">struct </span><a class="code" href="structPxQueryCache.html">PxQueryCache</a>;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">class </span><a class="code" href="classPxShape.html">PxShape</a>;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classPxRigidBodyExt.html">   58</a></span>&#160;<span class="keyword">class </span><a class="code" href="classPxRigidBodyExt.html">PxRigidBodyExt</a></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;{</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keyword">static</span>      <span class="keywordtype">bool</span>            updateMassAndInertia(<a class="code" href="classPxRigidBody.html">PxRigidBody</a>&amp; body, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* shapeDensities, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> shapeDensityCount, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>* massLocalPose = NULL, <span class="keywordtype">bool</span> includeNonSimShapes = <span class="keyword">false</span>);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keyword">static</span>      <span class="keywordtype">bool</span>            updateMassAndInertia(<a class="code" href="classPxRigidBody.html">PxRigidBody</a>&amp; body, <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> density, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>* massLocalPose = NULL, <span class="keywordtype">bool</span> includeNonSimShapes = <span class="keyword">false</span>);</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    </div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="keyword">static</span>      <span class="keywordtype">bool</span>            setMassAndUpdateInertia(<a class="code" href="classPxRigidBody.html">PxRigidBody</a>&amp; body, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* shapeMasses, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> shapeMassCount, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>* massLocalPose = NULL, <span class="keywordtype">bool</span> includeNonSimShapes = <span class="keyword">false</span>);</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keyword">static</span>      <span class="keywordtype">bool</span>            setMassAndUpdateInertia(<a class="code" href="classPxRigidBody.html">PxRigidBody</a>&amp; body, <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> mass, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>* massLocalPose = NULL, <span class="keywordtype">bool</span> includeNonSimShapes = <span class="keyword">false</span>);</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keyword">static</span>      <a class="code" href="classPxMassProperties.html">PxMassProperties</a>    computeMassPropertiesFromShapes(<span class="keyword">const</span> <a class="code" href="classPxShape.html">PxShape</a>* <span class="keyword">const</span>* shapes, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> shapeCount);</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    </div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="keyword">static</span>      <span class="keywordtype">void</span>            addForceAtPos(<a class="code" href="classPxRigidBody.html">PxRigidBody</a>&amp; body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; <a class="code" href="PxArticulationReducedCoordinate_8h.html#a1f5925a4680ca8dff39369ff8d47ab7c">force</a>, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; pos, <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545">PxForceMode::Enum</a> mode = <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545a6e707aa50e1612a2603643ee2df85f1a">PxForceMode::eFORCE</a>, <span class="keywordtype">bool</span> wakeup = <span class="keyword">true</span>);</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <span class="keyword">static</span>      <span class="keywordtype">void</span>            addForceAtLocalPos(<a class="code" href="classPxRigidBody.html">PxRigidBody</a>&amp; body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; <a class="code" href="PxArticulationReducedCoordinate_8h.html#a1f5925a4680ca8dff39369ff8d47ab7c">force</a>, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; pos, <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545">PxForceMode::Enum</a> mode = <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545a6e707aa50e1612a2603643ee2df85f1a">PxForceMode::eFORCE</a>, <span class="keywordtype">bool</span> wakeup = <span class="keyword">true</span>);</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="keyword">static</span>      <span class="keywordtype">void</span>            addLocalForceAtPos(<a class="code" href="classPxRigidBody.html">PxRigidBody</a>&amp; body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; <a class="code" href="PxArticulationReducedCoordinate_8h.html#a1f5925a4680ca8dff39369ff8d47ab7c">force</a>, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; pos, <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545">PxForceMode::Enum</a> mode = <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545a6e707aa50e1612a2603643ee2df85f1a">PxForceMode::eFORCE</a>, <span class="keywordtype">bool</span> wakeup = <span class="keyword">true</span>);</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="keyword">static</span>      <span class="keywordtype">void</span>            addLocalForceAtLocalPos(<a class="code" href="classPxRigidBody.html">PxRigidBody</a>&amp; body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; <a class="code" href="PxArticulationReducedCoordinate_8h.html#a1f5925a4680ca8dff39369ff8d47ab7c">force</a>, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; pos, <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545">PxForceMode::Enum</a> mode = <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545a6e707aa50e1612a2603643ee2df85f1a">PxForceMode::eFORCE</a>, <span class="keywordtype">bool</span> wakeup = <span class="keyword">true</span>);</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    <span class="keyword">static</span>      <a class="code" href="classPxVec3.html">PxVec3</a>          getVelocityAtPos(<span class="keyword">const</span> <a class="code" href="classPxRigidBody.html">PxRigidBody</a>&amp; body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; pos);</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    <span class="keyword">static</span>      <a class="code" href="classPxVec3.html">PxVec3</a>          getLocalVelocityAtLocalPos(<span class="keyword">const</span> <a class="code" href="classPxRigidBody.html">PxRigidBody</a>&amp; body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; pos);</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <span class="keyword">static</span>      <a class="code" href="classPxVec3.html">PxVec3</a>          getVelocityAtOffset(<span class="keyword">const</span> <a class="code" href="classPxRigidBody.html">PxRigidBody</a>&amp; body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; pos);</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    <span class="keyword">static</span>      <span class="keywordtype">bool</span>            linearSweepSingle(</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;                                    <a class="code" href="classPxRigidBody.html">PxRigidBody</a>&amp; body, <a class="code" href="classPxScene.html">PxScene</a>&amp; scene, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; unitDir, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> distance,</div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;                                    PxHitFlags outputFlags,</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;                                    <a class="code" href="structPxSweepHit.html">PxSweepHit</a>&amp; closestHit, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&amp; shapeIndex,</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;                                    <span class="keyword">const</span> <a class="code" href="structPxQueryFilterData.html">PxQueryFilterData</a>&amp; filterData = <a class="code" href="structPxQueryFilterData.html">PxQueryFilterData</a>(),</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;                                    <a class="code" href="classPxQueryFilterCallback.html">PxQueryFilterCallback</a>* filterCall = NULL,</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;                                    <span class="keyword">const</span> <a class="code" href="structPxQueryCache.html">PxQueryCache</a>* cache = NULL,</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;                                    <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> inflation=0.0f);</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;</div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    <span class="keyword">static</span>      <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>           linearSweepMultiple(</div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;                                    <a class="code" href="classPxRigidBody.html">PxRigidBody</a>&amp; body, <a class="code" href="classPxScene.html">PxScene</a>&amp; scene, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; unitDir, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> distance,</div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;                                    PxHitFlags outputFlags,</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;                                    <a class="code" href="structPxSweepHit.html">PxSweepHit</a>* touchHitBuffer, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>* touchHitShapeIndices, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> touchHitBufferSize,</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;                                    <a class="code" href="structPxSweepHit.html">PxSweepHit</a>&amp; block, <a class="code" href="namespacephysx.html#a2d0d277fc9b3eb2bff0fcfa416ae6ae4">PxI32</a>&amp; blockingShapeIndex, <span class="keywordtype">bool</span>&amp; overflow,</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;                                    <span class="keyword">const</span> <a class="code" href="structPxQueryFilterData.html">PxQueryFilterData</a>&amp; filterData = <a class="code" href="structPxQueryFilterData.html">PxQueryFilterData</a>(),</div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;                                    <a class="code" href="classPxQueryFilterCallback.html">PxQueryFilterCallback</a>* filterCall = NULL,</div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;                                    <span class="keyword">const</span> <a class="code" href="structPxQueryCache.html">PxQueryCache</a>* cache = NULL, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> inflation = 0.0f);</div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;</div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;</div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;    <span class="keyword">static</span>      <span class="keywordtype">void</span>            computeVelocityDeltaFromImpulse(<span class="keyword">const</span> <a class="code" href="classPxRigidBody.html">PxRigidBody</a>&amp; body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; impulsiveForce, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; impulsiveTorque, <a class="code" href="classPxVec3.html">PxVec3</a>&amp; deltaLinearVelocity, <a class="code" href="classPxVec3.html">PxVec3</a>&amp; deltaAngularVelocity);</div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;</div><div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span>                 computeVelocityDeltaFromImpulse(<span class="keyword">const</span> <a class="code" href="classPxRigidBody.html">PxRigidBody</a>&amp; body, <span class="keyword">const</span> <a class="code" href="classPxTransform.html">PxTransform</a>&amp; globalPose, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; point, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; impulse, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invMassScale, </div><div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;                                                        <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invInertiaScale, <a class="code" href="classPxVec3.html">PxVec3</a>&amp; deltaLinearVelocity, <a class="code" href="classPxVec3.html">PxVec3</a>&amp; deltaAngularVelocity);</div><div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;</div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span>                 computeLinearAngularImpulse(<span class="keyword">const</span> <a class="code" href="classPxRigidBody.html">PxRigidBody</a>&amp; body, <span class="keyword">const</span> <a class="code" href="classPxTransform.html">PxTransform</a>&amp; globalPose, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; point, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; impulse, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invMassScale, </div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;                                                        <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invInertiaScale, <a class="code" href="classPxVec3.html">PxVec3</a>&amp; linearImpulse, <a class="code" href="classPxVec3.html">PxVec3</a>&amp; angularImpulse);</div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;</div><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;</div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;};</div><div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;</div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;} <span class="comment">// namespace physx</span></div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;</div><div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="namespacephysx_html"><div class="ttname"><a href="namespacephysx.html">physx</a></div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:37</div></div>
<div class="ttc" id="classPxScene_html"><div class="ttname"><a href="classPxScene.html">PxScene</a></div><div class="ttdoc">A scene is a collection of bodies and constraints which can interact. </div><div class="ttdef"><b>Definition:</b> PxScene.h:169</div></div>
<div class="ttc" id="classPxQueryFilterCallback_html"><div class="ttname"><a href="classPxQueryFilterCallback.html">PxQueryFilterCallback</a></div><div class="ttdoc">Scene query filtering callbacks. </div><div class="ttdef"><b>Definition:</b> PxQueryFiltering.h:169</div></div>
<div class="ttc" id="classPxShape_html"><div class="ttname"><a href="classPxShape.html">PxShape</a></div><div class="ttdoc">Abstract class for collision shapes. </div><div class="ttdef"><b>Definition:</b> PxShape.h:142</div></div>
<div class="ttc" id="namespacephysx_html_a727d2d8426e2a21ebbc522fa65c3f97a"><div class="ttname"><a href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">physx::PxReal</a></div><div class="ttdeci">float PxReal</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:78</div></div>
<div class="ttc" id="PxMassProperties_8h_html"><div class="ttname"><a href="PxMassProperties_8h.html">PxMassProperties.h</a></div></div>
<div class="ttc" id="PxArticulationReducedCoordinate_8h_html_a1f5925a4680ca8dff39369ff8d47ab7c"><div class="ttname"><a href="PxArticulationReducedCoordinate_8h.html#a1f5925a4680ca8dff39369ff8d47ab7c">force</a></div><div class="ttdeci">PxVec3 force</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:132</div></div>
<div class="ttc" id="structPxQueryFilterData_html"><div class="ttname"><a href="structPxQueryFilterData.html">PxQueryFilterData</a></div><div class="ttdoc">Scene query filtering data. </div><div class="ttdef"><b>Definition:</b> PxQueryFiltering.h:132</div></div>
<div class="ttc" id="PxRigidBody_8h_html"><div class="ttname"><a href="PxRigidBody_8h.html">PxRigidBody.h</a></div></div>
<div class="ttc" id="PxQueryReport_8h_html"><div class="ttname"><a href="PxQueryReport_8h.html">PxQueryReport.h</a></div></div>
<div class="ttc" id="structPxForceMode_html_aadaaafefe0478d829b816154c676e545"><div class="ttname"><a href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545">PxForceMode::Enum</a></div><div class="ttdeci">Enum</div><div class="ttdef"><b>Definition:</b> PxForceMode.h:52</div></div>
<div class="ttc" id="PxPhysXConfig_8h_html"><div class="ttname"><a href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a></div></div>
<div class="ttc" id="classPxRigidBodyExt_html"><div class="ttname"><a href="classPxRigidBodyExt.html">PxRigidBodyExt</a></div><div class="ttdoc">utility functions for use with PxRigidBody and subclasses </div><div class="ttdef"><b>Definition:</b> PxRigidBodyExt.h:58</div></div>
<div class="ttc" id="PxQueryFiltering_8h_html"><div class="ttname"><a href="PxQueryFiltering_8h.html">PxQueryFiltering.h</a></div></div>
<div class="ttc" id="classPxMassProperties_html"><div class="ttname"><a href="classPxMassProperties.html">PxMassProperties</a></div><div class="ttdoc">Utility class to compute and manipulate mass and inertia tensor properties. </div><div class="ttdef"><b>Definition:</b> PxMassProperties.h:63</div></div>
<div class="ttc" id="structPxForceMode_html_aadaaafefe0478d829b816154c676e545a6e707aa50e1612a2603643ee2df85f1a"><div class="ttname"><a href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545a6e707aa50e1612a2603643ee2df85f1a">PxForceMode::eFORCE</a></div><div class="ttdoc">parameter has unit of mass * distance/ time^2, i.e. a force </div><div class="ttdef"><b>Definition:</b> PxForceMode.h:54</div></div>
<div class="ttc" id="structPxQueryCache_html"><div class="ttname"><a href="structPxQueryCache.html">PxQueryCache</a></div><div class="ttdoc">single hit cache for scene queries. </div><div class="ttdef"><b>Definition:</b> PxScene.h:143</div></div>
<div class="ttc" id="classPxTransform_html"><div class="ttname"><a href="classPxTransform.html">PxTransform</a></div><div class="ttdoc">class representing a rigid euclidean transform as a quaternion and a vector </div><div class="ttdef"><b>Definition:</b> PxTransform.h:48</div></div>
<div class="ttc" id="namespacephysx_html_a2d0d277fc9b3eb2bff0fcfa416ae6ae4"><div class="ttname"><a href="namespacephysx.html#a2d0d277fc9b3eb2bff0fcfa416ae6ae4">physx::PxI32</a></div><div class="ttdeci">int32_t PxI32</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:70</div></div>
<div class="ttc" id="structPxSweepHit_html"><div class="ttname"><a href="structPxSweepHit.html">PxSweepHit</a></div><div class="ttdoc">Stores results of sweep queries. </div><div class="ttdef"><b>Definition:</b> PxQueryReport.h:200</div></div>
<div class="ttc" id="classPxRigidBody_html"><div class="ttname"><a href="classPxRigidBody.html">PxRigidBody</a></div><div class="ttdoc">PxRigidBody is a base class shared between dynamic rigid body objects. </div><div class="ttdef"><b>Definition:</b> PxRigidBody.h:195</div></div>
<div class="ttc" id="group__foundation_html_gacce5749db3dcfb916e98c253374264ed"><div class="ttname"><a href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a></div><div class="ttdeci">uint32_t PxU32</div><div class="ttdef"><b>Definition:</b> Px.h:48</div></div>
<div class="ttc" id="classPxVec3_html"><div class="ttname"><a href="classPxVec3.html">PxVec3</a></div><div class="ttdoc">3 Element vector class. </div><div class="ttdef"><b>Definition:</b> PxVec3.h:49</div></div>
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